US20220184813A1 - Welding system, control device, and welding method - Google Patents
Welding system, control device, and welding method Download PDFInfo
- Publication number
- US20220184813A1 US20220184813A1 US17/599,366 US202017599366A US2022184813A1 US 20220184813 A1 US20220184813 A1 US 20220184813A1 US 202017599366 A US202017599366 A US 202017599366A US 2022184813 A1 US2022184813 A1 US 2022184813A1
- Authority
- US
- United States
- Prior art keywords
- welding
- workpiece
- positioner
- holding
- control device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000003466 welding Methods 0.000 title claims abstract description 265
- 238000000034 method Methods 0.000 title claims description 27
- 230000007246 mechanism Effects 0.000 claims abstract description 142
- 238000004364 calculation method Methods 0.000 claims abstract description 33
- 230000005484 gravity Effects 0.000 claims description 14
- 230000001360 synchronised effect Effects 0.000 claims description 14
- 230000008569 process Effects 0.000 claims description 6
- 229910000831 Steel Inorganic materials 0.000 description 90
- 239000010959 steel Substances 0.000 description 88
- 230000003028 elevating effect Effects 0.000 description 8
- 238000011960 computer-aided design Methods 0.000 description 3
- 238000013473 artificial intelligence Methods 0.000 description 2
- 230000007257 malfunction Effects 0.000 description 2
- 239000002893 slag Substances 0.000 description 2
- 230000004913 activation Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
- B23K37/0229—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track the guide member being situated alongside the workpiece
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0426—Fixtures for other work
- B23K37/0452—Orientable fixtures
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
Definitions
- the present invention relates to a welding system, a control device, a control program and a welding method, and more specifically, to a welding system, a control device, a control program and a welding method capable of automatically welding a large welding workpiece with a welding robot.
- a welding device for automatically welding a large welding workpiece such as a steel frame structure with a welding robot includes a welding robot, a welding control device configured to control the welding robot, and a rotation positioner configured to hold a workpiece, and automatically generates an operating locus and a welding condition of the welding robot according to a welding robot locus and a welding condition prepared in advance, based on workpiece information such as a size of a steel frame structure and a shape of a welding joint inputted into an input means of the welding control device.
- a work for positioning a workpiece and a positioner configured to hold the workpiece to appropriate positions is required.
- the work for positioning the positioner requires a very time-consuming and troublesome work, and is performed by trial and error based on years of experience of a worker, which is not efficient.
- the welding device disclosed in Patent Literature 1 is to automate the welding work after determining positions of the workpiece and the rotation positioner, and does not particularly consider the work for positioning the rotation positioner.
- the present invention has been made in view of the above situations, and an object thereof is to provide a welding system, a control device, a control program and a welding method capable of automatically calculating a position of a positioner at a time when holding a workpiece and improving work efficiency by automating a work for positioning the positioner.
- the object of the present invention is achieved by a configuration of a following (1) relating to a welding system.
- a welding system configured to weld a workpiece by using a welding device and a positioner, the welding system including:
- control device configured to control the welding device and the positioner
- the positioner includes a workpiece position setting mechanism having reference position information, and at least one holding mechanism configured to hold the workpiece, and
- control device includes a positioner position calculation means for calculating a position of the holding mechanism when holding the workpiece based on the reference position information provided from the workpiece position setting mechanism and workpiece information inputted into the control device in advance.
- the preferred embodiments of the present invention relating to the welding system relate to following (2) to (8).
- control device has a database in which the position of the holding mechanism at a time when holding the workpiece is stored for each of the workpiece information
- the positioner position calculation means calculates the position of the holding mechanism at a time when holding the workpiece by referring to the database.
- control device includes a synchronous control unit configured to perform control such that an operation of the welding device and an operation of the positioner are synchronized with each other.
- welding robot and the positioner each have a moving shaft that can move in parallel.
- each of the drive-side holding mechanism and the driven-side holding mechanism has a servo motor for positioning to a predetermined position
- control device is configured to control a position of the driven-side holding mechanism based on a position positioned in the drive-side holding mechanism, with respect to the position of the holding mechanism at a time when holding the workpiece calculated by the positioner position calculation means.
- control device has a program automatic generation means for automatically generating an operating program for moving the holding mechanism and the welding device to the position of the holding mechanism at a time when holding the workpiece calculated by the positioner position calculation means.
- the positioner position calculation means calculates the position of the holding mechanism at a time when holding the workpiece by referring to the gravity center data.
- the object of the present invention is achieved by a configuration of a following (9) relating to a control device of a welding system.
- a control device of a welding system configured to weld a workpiece by using a welding device and a positioner
- control device is to control the welding device and the positioner
- control device includes a positioner position calculation means for calculating a position of a holding mechanism of the positioner at a time when holding the workpiece based on reference position information provided from a workpiece position setting mechanism of the positioner and workpiece information inputted into the control device in advance.
- the object of the present invention is achieved by a configuration of a following (10) relating to a control program of a welding system.
- a control program of a welding system configured to weld a workpiece by using a welding device and a positioner
- control program is to control the welding device and the positioner
- control program includes a positioner position calculation step of calculating a position of a holding mechanism of the positioner at a time when holding the workpiece based on reference position information provided from a workpiece position setting mechanism of the positioner and workpiece information inputted into the control program in advance.
- the object of the present invention is achieved by a configuration of a following (11) relating to a welding method.
- a welding method of welding a workpiece by using a welding device and a positioner including:
- the positioner includes a workpiece position setting mechanism having reference position information, and at least one holding mechanism configured to hold the workpiece, and
- the welding method includes a process of calculating a position of the holding mechanism at a time when holding the workpiece based on the reference position information provided from the workpiece position setting mechanism and workpiece information inputted into the control device in advance.
- the control device According to the welding system, the control device, the control program and the welding method of the present invention, it is possible to automatically calculate the position of the positioner at a time when holding the workpiece, and to improve work efficiency by automating the work for positioning the positioner.
- FIG. 1 is a schematic view showing an entire configuration of a welding system according to an embodiment of the present invention.
- FIG. 2A is a schematic view for illustrating a configuration and an operation of a rotation positioner of the welding system according to the embodiment of the present invention, showing a state where an arc part of an annular holder is opened.
- FIG. 2B is a schematic view for illustrating the configuration and the operation of the rotation positioner of the welding system according to the embodiment of the present invention, showing a state where a steel frame structure is accommodated in the annular holder.
- FIG. 2C is a schematic view for illustrating the configuration and the operation of the rotation positioner of the welding system according to the embodiment of the present invention, showing a state where the arc part of the annular holder is closed.
- FIG. 3 is an outline configuration view of the welding system shown in FIG. 1 , as seen from above.
- FIG. 4 is a schematic block diagram of the welding system shown in FIG. 1 .
- FIG. 5 is a flowchart showing a welding procedure by the welding system shown in FIG. 1 .
- FIGS. 1 to 4 A welding system according to an embodiment of the present invention will be described with reference to FIGS. 1 to 4 .
- a welding system 1 is to weld a steel frame structure W, which is a workpiece for welding, by gas shielded arc welding, for example.
- the welding system 1 includes a carriage 20 for a welding device and a control device, a welding robot 30 that is a welding device, a positioner 40 for holding the steel frame structure W in a predetermined position, and a control device 50 configured to control the welding robot 30 and the positioner 40 .
- the welding robot 30 includes a slider mechanism 22 configured to move the mounted welding robot 30 toward or away from the steel frame structure W, and a manipulator 32 with 6-axis joints.
- the positioner 40 includes a pair of rotation positioners 10 , which are holding mechanisms for the steel frame structure W, and a workpiece position setting mechanism 41 .
- the control device 50 includes a PC (Personal Computer) 51 configured to control an entire operation of the welding system 1 , a positioner control unit 52 , and a welding robot control unit 53 .
- the PC 51 also has a database DB in which optimal positions of the holding mechanisms 10 at a time when holding the workpiece W are stored for each of workpiece information such as size data, welding position data or gravity center data and the like of the steel frame structure W, which will be described later.
- the positioner 40 includes the pair of rotation positioners 10 , which are holding mechanisms for the steel frame structure W, and the workpiece position setting mechanism 41 .
- the rotation positioners 10 are to hold and rotate the steel frame structure W during welding.
- the rotation positioners 10 of the present embodiment are constituted by a pair of a drive-side rotation positioner 10 A that is a drive-side holding mechanism and a driven-side rotation positioner 10 B that is a driven-side holding mechanism, and are configured to hold the pillar-shaped steel frame structure W in at least two points in a length direction of the steel frame structure W.
- the rotation positioners 10 When welding a linear part of the steel frame structure W by the welding robot 30 , the rotation positioners 10 do not rotate the steel frame structure W, and when welding an arc part of the steel frame structure W by the welding robot 30 , the rotation positioners 10 rotate the steel frame structure W. Thereby, the welding system 1 can continuously weld not only the linear part but also the arc part of the steel frame structure W without cutting arc.
- the rotation positioner 10 of the present embodiment includes an annular holder 11 , an elevating arm mechanism 12 , a bracket 13 , and a carriage 14 for a rotation positioner. Note that, the arc part of the steel frame structure W is formed at a corner part.
- the annular holder 11 is to accommodate and hold therein the steel frame structure W.
- a plurality of fixing jigs 16 for holding the steel frame structure W from all around is provided to be expandable and contractible on an inner side of the annular holder 11 .
- the annular holder 11 is configured to clamp and fix the steel frame structure W from all around by the plurality of fixing jigs 16 .
- a gear 11 a is formed on an outer periphery of the annular holder 11 , and the gear 11 a is configured to mesh with a pinion gear (not shown) provided in the bracket 13 . Note that, the gear 11 a is not shown in FIG. 1 .
- the elevating arm mechanism 12 is to divide and open and close the annular holder 11 . As shown in FIG. 2A , the elevating arm mechanism 12 is provided on a side of the annular holder 11 and the bracket 13 , and one end-side is connected to an upper part of the annular holder 11 and the other end-side is connected to a side surface of the bracket 13 .
- the elevating arm mechanism 12 is, specifically, configured to divide and open the annular holder 11 in a predetermined position, and to rotate an arc part 11 b , which is a part of the annular holder 11 , in a clockwise direction to space the arc part from the other part of the annular holder 11 , thereby forming a state in which the steel frame structure W can be accommodated. After the steel frame structure W is accommodated as shown in FIG.
- the elevating arm mechanism 12 is configured to rotate the arc part 11 b in a counterclockwise direction to again close the arc part 11 b , and to clamp and hold the steel frame structure W by the four fixing jigs 16 provided on the inner side of the annular holder 11 .
- the bracket 13 is to accommodate the annular holder 11 . As shown in FIG. 2A , the bracket 13 has such a shape of accommodating a lower half of the annular holder 11 and exposing an upper half of the annular holder 11 .
- a pinion gear (not shown) arranged to mesh with the gear 11 a of the annular holder 11 and a drive unit M configured to drive the pinion gear are provided.
- the drive unit M may be provided for at least one of the pair of rotation positioners 10 , so that the other rotation positioner 10 is driven by rotation of one rotation positioner 10 .
- a reference sign 10 A in FIG. 1 indicates a drive-side rotation positioner, and a reference sign 10 B indicates a driven-side rotation positioner.
- the carriages 14 for a rotation positioner are to cause each of the rotation positioners 10 to be movable along moving rails R 1 for a positioner. As shown in FIG. 1 , the carriages 14 for a rotation positioner are provided at a lower part of each of the rotation positioners 10 by a pair, and are configured to cause the rotation positioners 10 to be independently movable in the length direction of the steel frame structure W by a servo motor (not shown).
- the rotation positioners 10 are each configured so that the gear 11 a formed on the outer periphery of the annular holder 11 and the pinion gear provided in the bracket 13 mesh with each other. Therefore, the rotation positioner 10 can rotate the annular holder 11 by the drive of the drive unit M, thereby rotating the steel frame structure W during welding work.
- the workpiece position setting mechanism 41 is arranged on a carriage 43 for a workpiece position setting mechanism capable of moving in the length direction of the steel frame structure W along the moving rails R 1 for a positioner. Also, as shown in FIGS. 1 and 3 , a side surface of the workpiece position setting mechanism 41 is provided with a reference surface 42 for setting a reference position S in the length direction of the steel frame structure W by bringing one end of the steel frame structure W into contact with the reference surface, for example. Specifically, as described later, the workpiece position setting mechanism 41 has reference position information of the steel frame structure W, which is used so as to calculate optimal positions of the holding mechanisms 10 at a time when holding the workpiece W.
- the gap is preferably smaller than 10 mm.
- the reference surface 42 is not required to be the side surface of the workpiece position setting mechanism 41 , i.e., a physical wall surface, like the present embodiment, as along as the reference position S in the length direction of the steel frame structure W can be set.
- a non-contact means such as a laser sensor.
- the carriage 20 for a welding device and a control device is to place thereon a welding mechanism that constitutes the welding system 1 .
- the carriage 20 for a welding device and a control device has a flat plate shape.
- a lower part of the carriage 20 for a welding device and a control device is provided with wheels 21
- the carriage 20 for a welding device and a control device is configured to be movable along moving rails R 2 for a welding device and a control device by the wheels 21 that are driven by a motor (not shown).
- the carriage 20 for a welding device and a control device is provided to be movable in parallel to the moving direction of the rotation positioners 10 as the length direction of the steel frame structure W.
- a slider mechanism 22 that is driven by the motor (not shown) is provided at an upper part of the carriage 20 for a welding device and a control device, and the welding robot 30 and the control device 50 are placed on an upper part of the slider mechanism 22 .
- the slider mechanism 22 is configured to be movable in a direction orthogonal to the moving direction of the rotation positioners 10 , i.e., the length direction of the steel frame structure W, on the carriage 20 for a welding device and a control device. Therefore, the welding robot 30 placed on the upper part of the slider mechanism 22 is configured to be movable in the direction orthogonal to the moving direction of the rotation positioners 10 during welding.
- a wire supply receptacle configured to accommodate a welding wire that is supplied to a welding torch 31 (which will be described later), a nozzle exchange device configured to exchange a nozzle provided at a distal end of the welding torch 31 , a nozzle cleaning device configured to clean the nozzle, a wire cutting device configured to cut the welding wire, a slag removing device configured to remove slag that is generated at a welding part, and the like, which are all not shown, may be placed on the upper part of the slider mechanism 22 .
- the welding robot 30 is to weld the steel frame structure W. As shown in FIG. 1 , the welding robot 30 includes a welding torch 31 configured to supply a welding wire to a distal end portion of the manipulator 32 .
- the welding torch 31 is connected to a welding power source (not shown), and power is supplied to the welding wire via the welding torch 31 .
- the welding robot 30 is placed on the carriage 20 for a welding device and a control device via the slider mechanism 22 , and as described above, is provided to be movable in the moving direction of the rotation positioners 10 and in the direction orthogonal to the moving direction of the rotation positioners 10 .
- the welding robot 30 is arranged between the pair of rotation positioners 10 , and is configured to weld a weld joint between the pair of rotation positioners 10 .
- the moving direction of the rotation positioners 10 also corresponds to the length direction of the steel frame structure W, and the direction orthogonal to the moving direction of the rotation positioners 10 corresponds to a width direction of the steel frame structure W.
- the control device 50 is to control operations of the rotation positioners 10 , the carriages 14 for a rotation positioner, the carriage 20 for a welding device and a control device, the slider mechanism 22 , the welding robot 30 , the carriage 43 for a workpiece position setting mechanism, and the like.
- the control device 50 includes a PC 51 configured to control an entire operation of the welding system 1 , a positioner control unit 52 configured to control an operation of the positioner 40 , and a welding robot control unit 53 configured to control a welding operation of the welding robot 30 .
- the PC 51 has a positioner position calculation means 51 a , a program automatic generation means 51 b , and a database DB in which optimal positions of the rotation positioners 10 at a time when holding the steel frame structure W are stored for each of workpiece information such as size data, welding position data or gravity center data and the like of the steel frame structure W.
- the database is a collection of information and the like stored in which predetermined distances should be maintained so as to prevent interference between the welding robot 30 and the rotation positioners 10 when welding the steel frame structure W having predetermined workpiece information, for example.
- the “optimal positions of the rotation positioners 10 at a time when holding the steel frame structure W”, which are calculated by the positioner position calculation means 51 a are positions of the rotation positioners 10 in which it is possible to securely hold the steel frame structure W while enabling the steel frame structure W to be welded without generating a malfunction.
- the database DB is described as storing the optimal positions of the rotation positioners 10 at a time when holding the steel frame structure W but is just exemplary.
- the database DB may also have a configuration in which positions other than the optimal positions of the rotation positioners 10 at a time when holding the steel frame structure W are stored.
- the positions of the rotation positioners 10 may not be the optimal positions as long as the rotation positioners 10 are in a state where the rotation positioners 10 can hold the steel frame structure W while enabling the steel frame structure W to be welded without generating a malfunction. Therefore, there is no problem that the database DB has a configuration in which positions other than the optimal positions of the rotation positioners 10 at a time when holding the steel frame structure W are stored.
- the positioner position calculation means 51 a is configured to calculate positions of the rotation positioners 10 in which the steel frame structure W can be held in the optimal positions, based on the reference position S as the reference position information received from the workpiece position setting mechanism 41 and workpiece information inputted into the PC 51 of the control device 50 in advance.
- the program automatic generation means 51 b is configured to automatically generate an operating program for moving the rotation positioners 10 and the welding robot 30 to the optimal positions of the rotation positioners 10 at a time when holding the steel frame structure W, which are calculated by the positioner position calculation means 51 a .
- the database DB may be data accumulated by a learning device, and AI (Artificial Intelligence) technology can also be used.
- the positioner control unit 52 is configured to control the rotation positioners 10 and the welding robot 30 and to move the same to the positions of the rotation positioners 10 calculated by the positioner position calculation means 51 a , according to the operating program automatically generated by the PC 51 .
- the welding robot control unit 53 is to control the welding operation of the welding robot 30 , and has a synchronous control unit 53 a .
- the welding robot control unit 53 is configured to control an operation of the manipulator 32 , power that is supplied to the welding torch 31 , supply of the welding wire and the like to weld a weld part of the steel frame structure W, based on the operating program generated by the PC 51 on the basis of the workpiece information such as size data, welding position data or gravity center data and the like of the steel frame structure W or an operating program stored in advance in the welding robot control unit.
- the synchronous control unit 53 a is configured to control an operation of the manipulator 32 of the welding robot 30 and an operation of the rotation positioners 10 so as to be synchronized with each other. Specifically, when welding the arc part of the steel frame structure W by the welding robot 30 , the welding is performed while synchronizing the rotation of the steel frame structure W and the operation of the welding robot 30 . In addition, as required, the synchronous control unit 53 a is configured to move the welding robot 30 in synchronization with movement of the rotation positioners 10 moving in the length direction of the steel frame structure W, in response to a command from the PC 51 .
- FIG. 3 is an outline configuration view of the welding system shown in FIG. 1 , as seen from above, and FIG. 5 is a flowchart showing a welding procedure by the welding system shown in FIG. 1 .
- the carriage 43 for a workpiece position setting mechanism is moved along the moving rails R 1 for a positioner, and the workpiece position setting mechanism 41 is positioned to any position.
- the reference surface 42 of the workpiece position setting mechanism 41 is set as the reference position S of the steel frame structure W.
- the position of the workpiece position setting mechanism 41 is arbitrarily determined, it is preferably set the same to a position in which a welding work area of the steel frame structure W does not overlap other work areas, for example.
- the workpiece information such as size data, welding position data or gravity center data and the like of the steel frame structure W is input in advance to the PC 51 by an operator's manual input, an input from CAD (Computer-Aided Design) data of the steel frame structure W, and the like.
- CAD Computer-Aided Design
- the input method of the workpiece information is not particularly limited, 3D CAD data is preferably used from a standpoint of improving work efficiency.
- the positioner position calculation means 51 a of the PC 51 calculates the positions of the rotation positioners 10 in which the steel frame structure W can be held in the optimal positions, based on the reference position information received from the workpiece position setting mechanism 41 and the workpiece information input in advance to the PC 51 of the control device 50 .
- the positioner position calculation means 51 a assumes a virtual steel frame structure W whose one end is in contact with the reference surface 42 of the workpiece position setting mechanism 41 , and determines the optimal holding positions for the virtual steel frame structure W and calculates the positions of the rotation positioners 10 , from the database DB in which the optimal positions of the rotation positioners 10 at a time when holding the steel frame structure W are stored for each of the workpiece information.
- the optimal holding positions are calculated, considering the gravity center data, so that the steel frame structure W can be held in a stable state and the welding work can be performed with high accuracy.
- the program automatic generation means 51 b of the PC 51 automatically generates the operating program for moving the rotation positioners 10 to the positions of the rotation positioners 10 calculated by the positioner position calculation means 51 a , and transmits the same to the positioner control unit 52 .
- step S 4 in FIG. 5 the positioner control unit 52 moves the carriages 14 for a rotation positioner along the moving rails R 1 for a positioner, thereby moving the rotation positioners 10 to the positions of the rotation positioners 10 calculated by the positioner position calculation means 51 a , according to the operating program generated by the program automatic generation means 51 b.
- the movement of the rotation positioners 10 to the calculated positions is preferably performed by controlling the position of the driven-side rotation positioner 10 B, based on the position of the drive-side rotation positioner 10 A. Thereby, the position accuracy of the drive-side rotation positioner 10 A and the driven-side rotation positioner 10 B is increased.
- step S 5 in FIG. 5 the elevating arm mechanisms 12 are actuated to divide and open the upper parts of the annular holders 11 (refer to FIG. 2A ), and the steel frame structure W is then conveyed and mounted on the fixing jigs 16 by a crane or the like.
- the fixing jigs 16 When mounting the steel frame structure W on the fixing jigs 16 , one end of the steel frame structure W becoming the reference surface is brought into contact with the reference surface 42 of the workpiece position setting mechanism 41 for determining the position in the length direction of the steel frame structure W, and then the steel frame structure is clamped and fixed from all around by the plurality of fixing jigs 16 . Then, the annular holders 11 are closed, and the workpiece position setting mechanism 41 is moved and retreated away from the steel frame structure W. Thereby, the rotation of the steel frame structure W by the rotation positioners 10 can be performed.
- step S 6 in FIG. 5 the PC 51 checks that each part has no interference, and as shown in step S 7 , transfers teaching data such as a welding position, a welding sequence, a welding method and the like to the welding robot control unit 53 .
- the welding robot control unit 53 starts a welding work of the steel frame structure W by the welding robot 30 , as shown in step S 9 , based on an activation command from an external input switch shown in step S 8 in FIG. 8 .
- the welding robot control unit 53 implements the welding work of the steel frame structure W while moving the welding robot 30 .
- the linear part in the length direction of the steel frame structure W is welded without rotating the steel frame structure W while moving the carriage 20 for a welding device and a control device, specifically, the welding robot 30 in the length direction of the steel frame structure W along the moving rails R 2 for a welding device and a control device or moving the slider mechanism 22 in the direction orthogonal to the length direction of the steel frame structure W.
- the linear part may be welded by actuating the manipulator 32 with 6-axis joints of the welding robot 30 without moving a main body of the welding robot 30 .
- the arc part of the steel frame structure W is welded by controlling the welding robot 30 in synchronization with rotation of the fixing jigs 16 by the synchronous control unit 53 a while driving the drive unit M to rotate the annular holders 11 , thereby rotating the steel frame structure W held by the fixing jigs 16 .
- step S 10 in FIG. 5 the upper parts of the annular holders 11 are opened by the elevating arm mechanisms 12 and the steel frame structure W is carried out, as shown in step S 10 in FIG. 5 , so that the welding work is ended.
- the welding system of the present embodiment it is possible to automatically calculate and determine the optimal positions of the rotation positioners 10 at a time when holding the steel frame structure W, which depends on the operator's experience in the related art. Specifically, it is possible to perform efficient work by automating the work for positioning the rotation positioners 10 .
- the present invention is not limited to the above embodiment and can be modified and improved as appropriate.
- the pair of rotation positioners 10 has been described as the holding mechanism of the steel frame structure W.
- one holding mechanism or three or more holding mechanisms can also be possible as long as it is possible to hold the steel frame structure W.
- a welding system configured to weld a workpiece by using a welding device and a positioner, the welding system including:
- control device configured to control the welding device and the positioner
- the positioner includes a workpiece position setting mechanism having reference position information, and at least one holding mechanism configured to hold the workpiece, and
- control device includes a positioner position calculation means for calculating a position of the holding mechanism when holding the workpiece based on the reference position information provided from the workpiece position setting mechanism and workpiece information inputted into the control device in advance.
- the configuration it is possible to automatically calculate and determine a position of the positioner at a time when holding the workpiece, so that it is possible to perform efficient work by automating the work for positioning the positioner.
- control device has a database in which the position of the holding mechanism at a time when holding the workpiece is stored for each of the workpiece information
- the positioner position calculation means calculates the position of the holding mechanism at a time when holding the workpiece by referring to the database.
- control device includes a synchronous control unit configured to perform control such that an operation of the welding device and an operation of the positioner are synchronized with each other.
- each of the welding robot and the positioner has a moving shaft for enabling movement in parallel.
- each of the drive-side holding mechanism and the driven-side holding mechanism has a servo motor for positioning to a predetermined position
- control device is configured to control a position of the driven-side holding mechanism based on a position positioned in the drive-side holding mechanism, with respect to the position of the holding mechanism at a time when holding the workpiece calculated by the positioner position calculation means.
- the position accuracy of the relative positions of the drive-side holding mechanism and the driven-side holding mechanism increases.
- control device has a program automatic generation means for automatically generating an operating program for moving the holding mechanism and the welding device to the position of the holding mechanism at a time when holding the workpiece calculated by the positioner position calculation means.
- the positioner position calculation means calculates the position of the holding mechanism at a time when holding the workpiece by referring to the gravity center data.
- the holding mechanism can hold the workpiece in a stable state.
- a control device of a welding system configured to weld a workpiece by using a welding device and a positioner
- control device is to control the welding device and the positioner
- control device includes a positioner position calculation means for calculating a position of a holding mechanism of the positioner at a time when holding the workpiece based on reference position information provided from a workpiece position setting mechanism of the positioner and workpiece information inputted into the control device in advance.
- the configuration it is possible to automatically calculate and determine a position of the positioner at a time when holding the workpiece, so that it is possible to perform efficient work by automating the work for positioning the positioner.
- a control program of a welding system configured to weld a workpiece by using a welding device and a positioner
- control program is to control the welding device and the positioner
- control program includes a positioner position calculation step of calculating a position of a holding mechanism of the positioner at a time when holding the workpiece based on reference position information provided from a workpiece position setting mechanism of the positioner and workpiece information inputted into the control program in advance.
- the configuration it is possible to automatically calculate and determine a position of the positioner at a time when holding the workpiece, so that it is possible to perform efficient work by automating the work for positioning the positioner.
- a welding method of welding a workpiece by using a welding device and a positioner including:
- the positioner includes a workpiece position setting mechanism having reference position information, and at least one holding mechanism configured to hold the workpiece, and
- the welding method includes a process of calculating a position of the holding mechanism at a time when holding the workpiece based on the reference position information provided from the workpiece position setting mechanism and workpiece information inputted into the control device in advance.
- the configuration it is possible to automatically calculate and determine a position of the positioner at a time when holding the workpiece, so that it is possible to perform efficient work by automating the work for positioning the positioner.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Plasma & Fusion (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
- Manipulator (AREA)
Abstract
A welding system configured to weld a workpiece by using a welding device and a positioner includes a control device configured to control the welding device and the positioner. The positioner includes a workpiece position setting mechanism having reference position information, and at least one holding mechanism configured to hold the workpiece. The control device includes a positioner position calculation means for calculating a position of the holding mechanism when holding the workpiece based on the reference position information provided from the workpiece position setting mechanism and workpiece information inputted into the control device in advance.
Description
- The present invention relates to a welding system, a control device, a control program and a welding method, and more specifically, to a welding system, a control device, a control program and a welding method capable of automatically welding a large welding workpiece with a welding robot.
- A welding device for automatically welding a large welding workpiece such as a steel frame structure with a welding robot has been disclosed so far. For example, a welding device disclosed in
Patent Literature 1 includes a welding robot, a welding control device configured to control the welding robot, and a rotation positioner configured to hold a workpiece, and automatically generates an operating locus and a welding condition of the welding robot according to a welding robot locus and a welding condition prepared in advance, based on workpiece information such as a size of a steel frame structure and a shape of a welding joint inputted into an input means of the welding control device. -
- Patent Literature 1: Japanese Patent No. 5,883,700
- For welding the workpiece, a work for positioning a workpiece and a positioner configured to hold the workpiece to appropriate positions is required. The work for positioning the positioner requires a very time-consuming and troublesome work, and is performed by trial and error based on years of experience of a worker, which is not efficient.
- Note that, the welding device disclosed in
Patent Literature 1 is to automate the welding work after determining positions of the workpiece and the rotation positioner, and does not particularly consider the work for positioning the rotation positioner. - The present invention has been made in view of the above situations, and an object thereof is to provide a welding system, a control device, a control program and a welding method capable of automatically calculating a position of a positioner at a time when holding a workpiece and improving work efficiency by automating a work for positioning the positioner.
- The object of the present invention is achieved by a configuration of a following (1) relating to a welding system.
- (1) A welding system configured to weld a workpiece by using a welding device and a positioner, the welding system including:
- a control device configured to control the welding device and the positioner,
- wherein the positioner includes a workpiece position setting mechanism having reference position information, and at least one holding mechanism configured to hold the workpiece, and
- wherein the control device includes a positioner position calculation means for calculating a position of the holding mechanism when holding the workpiece based on the reference position information provided from the workpiece position setting mechanism and workpiece information inputted into the control device in advance.
- The preferred embodiments of the present invention relating to the welding system relate to following (2) to (8).
- (2) The welding system according to the above (1), wherein the control device has a database in which the position of the holding mechanism at a time when holding the workpiece is stored for each of the workpiece information, and
- wherein the positioner position calculation means calculates the position of the holding mechanism at a time when holding the workpiece by referring to the database.
- (3) The welding system according to the above (1) or (2), wherein the workpiece information includes at least one data of welding position data and size data of the workpiece.
- (4) The welding system according to one of the above (1) to (3), wherein the control device includes a synchronous control unit configured to perform control such that an operation of the welding device and an operation of the positioner are synchronized with each other.
- (5) The welding system according to one of the above (1) to (4), wherein the welding device is a welding robot, and
- wherein the welding robot and the positioner each have a moving shaft that can move in parallel.
- (6) The welding system according to the above (5), wherein the positioner has two or more holding mechanisms,
- wherein when one of the holding mechanisms is set as a drive-side holding mechanism and other of the holding mechanisms is set as a driven-side holding mechanism, each of the drive-side holding mechanism and the driven-side holding mechanism has a servo motor for positioning to a predetermined position, and
- wherein the control device is configured to control a position of the driven-side holding mechanism based on a position positioned in the drive-side holding mechanism, with respect to the position of the holding mechanism at a time when holding the workpiece calculated by the positioner position calculation means.
- (7) The welding system according to one of the above (1) to (6), wherein the control device has a program automatic generation means for automatically generating an operating program for moving the holding mechanism and the welding device to the position of the holding mechanism at a time when holding the workpiece calculated by the positioner position calculation means.
- (8) The welding system according to one of the above (1) to (7), wherein the workpiece information includes gravity center data of the workpiece, and
- wherein the positioner position calculation means calculates the position of the holding mechanism at a time when holding the workpiece by referring to the gravity center data.
- The object of the present invention is achieved by a configuration of a following (9) relating to a control device of a welding system.
- (9) A control device of a welding system configured to weld a workpiece by using a welding device and a positioner,
- wherein the control device is to control the welding device and the positioner, and
- wherein the control device includes a positioner position calculation means for calculating a position of a holding mechanism of the positioner at a time when holding the workpiece based on reference position information provided from a workpiece position setting mechanism of the positioner and workpiece information inputted into the control device in advance.
- The object of the present invention is achieved by a configuration of a following (10) relating to a control program of a welding system.
- (10) A control program of a welding system configured to weld a workpiece by using a welding device and a positioner,
- wherein the control program is to control the welding device and the positioner, and
- wherein the control program includes a positioner position calculation step of calculating a position of a holding mechanism of the positioner at a time when holding the workpiece based on reference position information provided from a workpiece position setting mechanism of the positioner and workpiece information inputted into the control program in advance.
- The object of the present invention is achieved by a configuration of a following (11) relating to a welding method.
- (11) A welding method of welding a workpiece by using a welding device and a positioner, the welding method including:
- a process of controlling the welding device and the positioner by a control device configured to control the welding device and the positioner,
- wherein the positioner includes a workpiece position setting mechanism having reference position information, and at least one holding mechanism configured to hold the workpiece, and
- wherein the welding method includes a process of calculating a position of the holding mechanism at a time when holding the workpiece based on the reference position information provided from the workpiece position setting mechanism and workpiece information inputted into the control device in advance.
- According to the welding system, the control device, the control program and the welding method of the present invention, it is possible to automatically calculate the position of the positioner at a time when holding the workpiece, and to improve work efficiency by automating the work for positioning the positioner.
-
FIG. 1 is a schematic view showing an entire configuration of a welding system according to an embodiment of the present invention. -
FIG. 2A is a schematic view for illustrating a configuration and an operation of a rotation positioner of the welding system according to the embodiment of the present invention, showing a state where an arc part of an annular holder is opened. -
FIG. 2B is a schematic view for illustrating the configuration and the operation of the rotation positioner of the welding system according to the embodiment of the present invention, showing a state where a steel frame structure is accommodated in the annular holder. -
FIG. 2C is a schematic view for illustrating the configuration and the operation of the rotation positioner of the welding system according to the embodiment of the present invention, showing a state where the arc part of the annular holder is closed. -
FIG. 3 is an outline configuration view of the welding system shown inFIG. 1 , as seen from above. -
FIG. 4 is a schematic block diagram of the welding system shown inFIG. 1 . -
FIG. 5 is a flowchart showing a welding procedure by the welding system shown inFIG. 1 . - <1. Welding System>
- A welding system according to an embodiment of the present invention will be described with reference to
FIGS. 1 to 4 . - A
welding system 1 is to weld a steel frame structure W, which is a workpiece for welding, by gas shielded arc welding, for example. - As shown in
FIG. 1 , thewelding system 1 includes acarriage 20 for a welding device and a control device, awelding robot 30 that is a welding device, apositioner 40 for holding the steel frame structure W in a predetermined position, and acontrol device 50 configured to control thewelding robot 30 and thepositioner 40. - Referring to
FIG. 4 , thewelding robot 30 includes aslider mechanism 22 configured to move the mountedwelding robot 30 toward or away from the steel frame structure W, and amanipulator 32 with 6-axis joints. - The
positioner 40 includes a pair ofrotation positioners 10, which are holding mechanisms for the steel frame structure W, and a workpieceposition setting mechanism 41. - The
control device 50 includes a PC (Personal Computer) 51 configured to control an entire operation of thewelding system 1, apositioner control unit 52, and a weldingrobot control unit 53. ThePC 51 also has a database DB in which optimal positions of the holdingmechanisms 10 at a time when holding the workpiece W are stored for each of workpiece information such as size data, welding position data or gravity center data and the like of the steel frame structure W, which will be described later. - [1-1. Positioner]
- As described above, the
positioner 40 includes the pair ofrotation positioners 10, which are holding mechanisms for the steel frame structure W, and the workpieceposition setting mechanism 41. - (1-1-1. Rotation Positioner)
- The rotation positioners 10 are to hold and rotate the steel frame structure W during welding. As shown in
FIG. 1 , therotation positioners 10 of the present embodiment are constituted by a pair of a drive-side rotation positioner 10A that is a drive-side holding mechanism and a driven-side rotation positioner 10B that is a driven-side holding mechanism, and are configured to hold the pillar-shaped steel frame structure W in at least two points in a length direction of the steel frame structure W. - When welding a linear part of the steel frame structure W by the
welding robot 30, therotation positioners 10 do not rotate the steel frame structure W, and when welding an arc part of the steel frame structure W by thewelding robot 30, therotation positioners 10 rotate the steel frame structure W. Thereby, thewelding system 1 can continuously weld not only the linear part but also the arc part of the steel frame structure W without cutting arc. As shown inFIG. 1 , therotation positioner 10 of the present embodiment includes anannular holder 11, an elevatingarm mechanism 12, abracket 13, and acarriage 14 for a rotation positioner. Note that, the arc part of the steel frame structure W is formed at a corner part. - The
annular holder 11 is to accommodate and hold therein the steel frame structure W. As shown inFIG. 1 , a plurality of fixingjigs 16 for holding the steel frame structure W from all around is provided to be expandable and contractible on an inner side of theannular holder 11. Theannular holder 11 is configured to clamp and fix the steel frame structure W from all around by the plurality of fixingjigs 16. As shown inFIG. 2A , agear 11 a is formed on an outer periphery of theannular holder 11, and thegear 11 a is configured to mesh with a pinion gear (not shown) provided in thebracket 13. Note that, thegear 11 a is not shown inFIG. 1 . - The elevating
arm mechanism 12 is to divide and open and close theannular holder 11. As shown inFIG. 2A , the elevatingarm mechanism 12 is provided on a side of theannular holder 11 and thebracket 13, and one end-side is connected to an upper part of theannular holder 11 and the other end-side is connected to a side surface of thebracket 13. - As shown in
FIG. 2A , the elevatingarm mechanism 12 is, specifically, configured to divide and open theannular holder 11 in a predetermined position, and to rotate anarc part 11 b, which is a part of theannular holder 11, in a clockwise direction to space the arc part from the other part of theannular holder 11, thereby forming a state in which the steel frame structure W can be accommodated. After the steel frame structure W is accommodated as shown inFIG. 2B , the elevatingarm mechanism 12 is configured to rotate thearc part 11 b in a counterclockwise direction to again close thearc part 11 b, and to clamp and hold the steel frame structure W by the four fixingjigs 16 provided on the inner side of theannular holder 11. - The
bracket 13 is to accommodate theannular holder 11. As shown inFIG. 2A , thebracket 13 has such a shape of accommodating a lower half of theannular holder 11 and exposing an upper half of theannular holder 11. In thebracket 13, a pinion gear (not shown) arranged to mesh with thegear 11 a of theannular holder 11 and a drive unit M configured to drive the pinion gear are provided. Note that, the drive unit M may be provided for at least one of the pair ofrotation positioners 10, so that theother rotation positioner 10 is driven by rotation of onerotation positioner 10. Areference sign 10A inFIG. 1 indicates a drive-side rotation positioner, and areference sign 10B indicates a driven-side rotation positioner. - The
carriages 14 for a rotation positioner are to cause each of therotation positioners 10 to be movable along moving rails R1 for a positioner. As shown inFIG. 1 , thecarriages 14 for a rotation positioner are provided at a lower part of each of therotation positioners 10 by a pair, and are configured to cause therotation positioners 10 to be independently movable in the length direction of the steel frame structure W by a servo motor (not shown). - Note that, as described above, the
rotation positioners 10 are each configured so that thegear 11 a formed on the outer periphery of theannular holder 11 and the pinion gear provided in thebracket 13 mesh with each other. Therefore, therotation positioner 10 can rotate theannular holder 11 by the drive of the drive unit M, thereby rotating the steel frame structure W during welding work. - (1-1-2. Workpiece Position Setting Mechanism)
- As shown in
FIG. 1 , the workpieceposition setting mechanism 41 is arranged on acarriage 43 for a workpiece position setting mechanism capable of moving in the length direction of the steel frame structure W along the moving rails R1 for a positioner. Also, as shown inFIGS. 1 and 3 , a side surface of the workpieceposition setting mechanism 41 is provided with areference surface 42 for setting a reference position S in the length direction of the steel frame structure W by bringing one end of the steel frame structure W into contact with the reference surface, for example. Specifically, as described later, the workpieceposition setting mechanism 41 has reference position information of the steel frame structure W, which is used so as to calculate optimal positions of the holdingmechanisms 10 at a time when holding the workpiece W. - Note that, it is not necessarily required to bring one end of the steel frame structure W into contact with the
reference surface 42 when setting the reference position S in the length direction of the steel frame structure W. For example, a slight gap may be provided between thereference surface 42 and one end of the steel frame structure W. In this case, the gap is preferably smaller than 10 mm. - In addition, the
reference surface 42 is not required to be the side surface of the workpieceposition setting mechanism 41, i.e., a physical wall surface, like the present embodiment, as along as the reference position S in the length direction of the steel frame structure W can be set. For example, it is also possible to set the reference position S in the length direction of the steel frame structure W by using a non-contact means such as a laser sensor. - [1-2. Carriage for Welding Device and Control Device]
- The
carriage 20 for a welding device and a control device is to place thereon a welding mechanism that constitutes thewelding system 1. As shown inFIG. 1 , thecarriage 20 for a welding device and a control device has a flat plate shape. A lower part of thecarriage 20 for a welding device and a control device is provided withwheels 21, and thecarriage 20 for a welding device and a control device is configured to be movable along moving rails R2 for a welding device and a control device by thewheels 21 that are driven by a motor (not shown). Specifically, thecarriage 20 for a welding device and a control device is provided to be movable in parallel to the moving direction of therotation positioners 10 as the length direction of the steel frame structure W. - A
slider mechanism 22 that is driven by the motor (not shown) is provided at an upper part of thecarriage 20 for a welding device and a control device, and thewelding robot 30 and thecontrol device 50 are placed on an upper part of theslider mechanism 22. Theslider mechanism 22 is configured to be movable in a direction orthogonal to the moving direction of therotation positioners 10, i.e., the length direction of the steel frame structure W, on thecarriage 20 for a welding device and a control device. Therefore, thewelding robot 30 placed on the upper part of theslider mechanism 22 is configured to be movable in the direction orthogonal to the moving direction of therotation positioners 10 during welding. Note that, a wire supply receptacle configured to accommodate a welding wire that is supplied to a welding torch 31 (which will be described later), a nozzle exchange device configured to exchange a nozzle provided at a distal end of thewelding torch 31, a nozzle cleaning device configured to clean the nozzle, a wire cutting device configured to cut the welding wire, a slag removing device configured to remove slag that is generated at a welding part, and the like, which are all not shown, may be placed on the upper part of theslider mechanism 22. - [1-3. Welding Robot]
- The
welding robot 30 is to weld the steel frame structure W. As shown inFIG. 1 , thewelding robot 30 includes awelding torch 31 configured to supply a welding wire to a distal end portion of themanipulator 32. Thewelding torch 31 is connected to a welding power source (not shown), and power is supplied to the welding wire via thewelding torch 31. - The
welding robot 30 is placed on thecarriage 20 for a welding device and a control device via theslider mechanism 22, and as described above, is provided to be movable in the moving direction of therotation positioners 10 and in the direction orthogonal to the moving direction of therotation positioners 10. Note that, inFIG. 1 , thewelding robot 30 is arranged between the pair ofrotation positioners 10, and is configured to weld a weld joint between the pair ofrotation positioners 10. The moving direction of therotation positioners 10 also corresponds to the length direction of the steel frame structure W, and the direction orthogonal to the moving direction of therotation positioners 10 corresponds to a width direction of the steel frame structure W. - [1-4. Control Device]
- The
control device 50 is to control operations of therotation positioners 10, thecarriages 14 for a rotation positioner, thecarriage 20 for a welding device and a control device, theslider mechanism 22, thewelding robot 30, thecarriage 43 for a workpiece position setting mechanism, and the like. - Here, as shown in
FIG. 4 , thecontrol device 50 includes aPC 51 configured to control an entire operation of thewelding system 1, apositioner control unit 52 configured to control an operation of thepositioner 40, and a weldingrobot control unit 53 configured to control a welding operation of thewelding robot 30. - (1-4-1. PC)
- The
PC 51 has a positioner position calculation means 51 a, a program automatic generation means 51 b, and a database DB in which optimal positions of therotation positioners 10 at a time when holding the steel frame structure W are stored for each of workpiece information such as size data, welding position data or gravity center data and the like of the steel frame structure W. - Note that, as used herein, the database is a collection of information and the like stored in which predetermined distances should be maintained so as to prevent interference between the welding
robot 30 and therotation positioners 10 when welding the steel frame structure W having predetermined workpiece information, for example. Specifically, the “optimal positions of therotation positioners 10 at a time when holding the steel frame structure W”, which are calculated by the positioner position calculation means 51 a, are positions of therotation positioners 10 in which it is possible to securely hold the steel frame structure W while enabling the steel frame structure W to be welded without generating a malfunction. - In the present embodiment, the database DB is described as storing the optimal positions of the
rotation positioners 10 at a time when holding the steel frame structure W but is just exemplary. For example, the database DB may also have a configuration in which positions other than the optimal positions of therotation positioners 10 at a time when holding the steel frame structure W are stored. Specifically, the positions of therotation positioners 10 may not be the optimal positions as long as therotation positioners 10 are in a state where therotation positioners 10 can hold the steel frame structure W while enabling the steel frame structure W to be welded without generating a malfunction. Therefore, there is no problem that the database DB has a configuration in which positions other than the optimal positions of therotation positioners 10 at a time when holding the steel frame structure W are stored. - The positioner position calculation means 51 a is configured to calculate positions of the
rotation positioners 10 in which the steel frame structure W can be held in the optimal positions, based on the reference position S as the reference position information received from the workpieceposition setting mechanism 41 and workpiece information inputted into thePC 51 of thecontrol device 50 in advance. - The program automatic generation means 51 b is configured to automatically generate an operating program for moving the
rotation positioners 10 and thewelding robot 30 to the optimal positions of therotation positioners 10 at a time when holding the steel frame structure W, which are calculated by the positioner position calculation means 51 a. Note that, the database DB may be data accumulated by a learning device, and AI (Artificial Intelligence) technology can also be used. - (1-4-2. Positioner Control Unit)
- The
positioner control unit 52 is configured to control therotation positioners 10 and thewelding robot 30 and to move the same to the positions of therotation positioners 10 calculated by the positioner position calculation means 51 a, according to the operating program automatically generated by thePC 51. - (1-4-3. Welding Robot Control Unit)
- The welding
robot control unit 53 is to control the welding operation of thewelding robot 30, and has asynchronous control unit 53 a. The weldingrobot control unit 53 is configured to control an operation of themanipulator 32, power that is supplied to thewelding torch 31, supply of the welding wire and the like to weld a weld part of the steel frame structure W, based on the operating program generated by thePC 51 on the basis of the workpiece information such as size data, welding position data or gravity center data and the like of the steel frame structure W or an operating program stored in advance in the welding robot control unit. - At this time, the
synchronous control unit 53 a is configured to control an operation of themanipulator 32 of thewelding robot 30 and an operation of therotation positioners 10 so as to be synchronized with each other. Specifically, when welding the arc part of the steel frame structure W by thewelding robot 30, the welding is performed while synchronizing the rotation of the steel frame structure W and the operation of thewelding robot 30. In addition, as required, thesynchronous control unit 53 a is configured to move thewelding robot 30 in synchronization with movement of therotation positioners 10 moving in the length direction of the steel frame structure W, in response to a command from thePC 51. - <2. Welding Procedure>
- Subsequently, a welding procedure of the steel frame structure W by the
welding system 1 is sequentially described with reference toFIGS. 1, 3 and 5 . Note that,FIG. 3 is an outline configuration view of the welding system shown inFIG. 1 , as seen from above, andFIG. 5 is a flowchart showing a welding procedure by the welding system shown inFIG. 1 . - First, the
carriage 43 for a workpiece position setting mechanism is moved along the moving rails R1 for a positioner, and the workpieceposition setting mechanism 41 is positioned to any position. Thereby, thereference surface 42 of the workpieceposition setting mechanism 41 is set as the reference position S of the steel frame structure W. Note that, although the position of the workpieceposition setting mechanism 41 is arbitrarily determined, it is preferably set the same to a position in which a welding work area of the steel frame structure W does not overlap other work areas, for example. - As shown in step S1 in
FIG. 5 , the workpiece information such as size data, welding position data or gravity center data and the like of the steel frame structure W is input in advance to thePC 51 by an operator's manual input, an input from CAD (Computer-Aided Design) data of the steel frame structure W, and the like. Note that, although the input method of the workpiece information is not particularly limited, 3D CAD data is preferably used from a standpoint of improving work efficiency. - Then, as shown in step S2 in
FIG. 5 , the positioner position calculation means 51 a of thePC 51 calculates the positions of therotation positioners 10 in which the steel frame structure W can be held in the optimal positions, based on the reference position information received from the workpieceposition setting mechanism 41 and the workpiece information input in advance to thePC 51 of thecontrol device 50. Specifically, the positioner position calculation means 51 a assumes a virtual steel frame structure W whose one end is in contact with thereference surface 42 of the workpieceposition setting mechanism 41, and determines the optimal holding positions for the virtual steel frame structure W and calculates the positions of therotation positioners 10, from the database DB in which the optimal positions of therotation positioners 10 at a time when holding the steel frame structure W are stored for each of the workpiece information. - Note that, in a case where the gravity center data of the steel frame structure W is included as the workpiece information, the optimal holding positions are calculated, considering the gravity center data, so that the steel frame structure W can be held in a stable state and the welding work can be performed with high accuracy.
- As shown in step S3 in
FIG. 5 , the program automatic generation means 51 b of thePC 51 automatically generates the operating program for moving therotation positioners 10 to the positions of therotation positioners 10 calculated by the positioner position calculation means 51 a, and transmits the same to thepositioner control unit 52. - As shown in step S4 in
FIG. 5 , thepositioner control unit 52 moves thecarriages 14 for a rotation positioner along the moving rails R1 for a positioner, thereby moving therotation positioners 10 to the positions of therotation positioners 10 calculated by the positioner position calculation means 51 a, according to the operating program generated by the program automatic generation means 51 b. - Note that, the movement of the
rotation positioners 10 to the calculated positions is preferably performed by controlling the position of the driven-side rotation positioner 10B, based on the position of the drive-side rotation positioner 10A. Thereby, the position accuracy of the drive-side rotation positioner 10A and the driven-side rotation positioner 10B is increased. - Then, as shown in step S5 in
FIG. 5 , the elevatingarm mechanisms 12 are actuated to divide and open the upper parts of the annular holders 11 (refer toFIG. 2A ), and the steel frame structure W is then conveyed and mounted on the fixingjigs 16 by a crane or the like. When mounting the steel frame structure W on the fixingjigs 16, one end of the steel frame structure W becoming the reference surface is brought into contact with thereference surface 42 of the workpieceposition setting mechanism 41 for determining the position in the length direction of the steel frame structure W, and then the steel frame structure is clamped and fixed from all around by the plurality of fixingjigs 16. Then, theannular holders 11 are closed, and the workpieceposition setting mechanism 41 is moved and retreated away from the steel frame structure W. Thereby, the rotation of the steel frame structure W by therotation positioners 10 can be performed. - Subsequently, as shown in step S6 in
FIG. 5 , thePC 51 checks that each part has no interference, and as shown in step S7, transfers teaching data such as a welding position, a welding sequence, a welding method and the like to the weldingrobot control unit 53. - The welding
robot control unit 53 starts a welding work of the steel frame structure W by thewelding robot 30, as shown in step S9, based on an activation command from an external input switch shown in step S8 inFIG. 8 . Specifically, for example, based on the operating program stored in thePC 51 or the weldingrobot control unit 53, the weldingrobot control unit 53 implements the welding work of the steel frame structure W while moving thewelding robot 30. Note that, the linear part in the length direction of the steel frame structure W is welded without rotating the steel frame structure W while moving thecarriage 20 for a welding device and a control device, specifically, thewelding robot 30 in the length direction of the steel frame structure W along the moving rails R2 for a welding device and a control device or moving theslider mechanism 22 in the direction orthogonal to the length direction of the steel frame structure W. In addition, the linear part may be welded by actuating themanipulator 32 with 6-axis joints of thewelding robot 30 without moving a main body of thewelding robot 30. - The arc part of the steel frame structure W is welded by controlling the
welding robot 30 in synchronization with rotation of the fixingjigs 16 by thesynchronous control unit 53 a while driving the drive unit M to rotate theannular holders 11, thereby rotating the steel frame structure W held by the fixingjigs 16. - After the welding of the steel frame structure W is completed, the upper parts of the
annular holders 11 are opened by the elevatingarm mechanisms 12 and the steel frame structure W is carried out, as shown in step S10 inFIG. 5 , so that the welding work is ended. - As described above, according to the welding system of the present embodiment, it is possible to automatically calculate and determine the optimal positions of the
rotation positioners 10 at a time when holding the steel frame structure W, which depends on the operator's experience in the related art. Specifically, it is possible to perform efficient work by automating the work for positioning therotation positioners 10. - Note that, the present invention is not limited to the above embodiment and can be modified and improved as appropriate. For example, in the above embodiment, the pair of
rotation positioners 10 has been described as the holding mechanism of the steel frame structure W. However, one holding mechanism or three or more holding mechanisms can also be possible as long as it is possible to hold the steel frame structure W. - As described above, the present specification discloses following matters.
- (1) A welding system configured to weld a workpiece by using a welding device and a positioner, the welding system including:
- a control device configured to control the welding device and the positioner,
- wherein the positioner includes a workpiece position setting mechanism having reference position information, and at least one holding mechanism configured to hold the workpiece, and
- wherein the control device includes a positioner position calculation means for calculating a position of the holding mechanism when holding the workpiece based on the reference position information provided from the workpiece position setting mechanism and workpiece information inputted into the control device in advance.
- According to the configuration, it is possible to automatically calculate and determine a position of the positioner at a time when holding the workpiece, so that it is possible to perform efficient work by automating the work for positioning the positioner.
- (2) The welding system according to the above (1), wherein the control device has a database in which the position of the holding mechanism at a time when holding the workpiece is stored for each of the workpiece information, and
- wherein the positioner position calculation means calculates the position of the holding mechanism at a time when holding the workpiece by referring to the database.
- According to the configuration, it is possible to calculate holding positions, according to a variety of workpieces.
- (3) The welding system according to the above (1) or (2), wherein the workpiece information includes at least one data of welding position data and size data of the workpiece.
- According to the configuration, it is possible to correctly perceive a size and a welding position of the workpiece.
- (4) The welding system according to one of the above (1) to (3), wherein the control device includes a synchronous control unit configured to perform control such that an operation of the welding device and an operation of the positioner are synchronized with each other.
- According to the configuration, it is possible to continuously perform the welding without cutting the arc even when welding an arc part of the workpiece by synchronizing the operations of the welding device and the positioner.
- (5) The welding system according to one of the above (1) to (4), wherein the welding device is a welding robot, and
- wherein each of the welding robot and the positioner has a moving shaft for enabling movement in parallel.
- According to the configuration, even when the welding robot and the holding mechanism move, it is possible to keep relative positions of the welding robot and the holding mechanism.
- (6) The welding system according to the above (5), wherein the positioner has two or more holding mechanisms,
- wherein when one of the holding mechanisms is set as a drive-side holding mechanism and other of the holding mechanisms is set as a driven-side holding mechanism, each of the drive-side holding mechanism and the driven-side holding mechanism has a servo motor for positioning to a predetermined position, and
- wherein the control device is configured to control a position of the driven-side holding mechanism based on a position positioned in the drive-side holding mechanism, with respect to the position of the holding mechanism at a time when holding the workpiece calculated by the positioner position calculation means.
- According to the configuration, the position accuracy of the relative positions of the drive-side holding mechanism and the driven-side holding mechanism increases.
- (7) The welding system according to one of the above (1) to (6), wherein the control device has a program automatic generation means for automatically generating an operating program for moving the holding mechanism and the welding device to the position of the holding mechanism at a time when holding the workpiece calculated by the positioner position calculation means.
- According to the configuration, it is possible to automatically generate the operating program, so that work efficiency is improved.
- (8) The welding system according to one of the above (1) to (7), wherein the workpiece information includes gravity center data of the workpiece, and
- wherein the positioner position calculation means calculates the position of the holding mechanism at a time when holding the workpiece by referring to the gravity center data.
- According to the configuration, the holding mechanism can hold the workpiece in a stable state.
- (9) A control device of a welding system configured to weld a workpiece by using a welding device and a positioner,
- wherein the control device is to control the welding device and the positioner, and
- wherein the control device includes a positioner position calculation means for calculating a position of a holding mechanism of the positioner at a time when holding the workpiece based on reference position information provided from a workpiece position setting mechanism of the positioner and workpiece information inputted into the control device in advance.
- According to the configuration, it is possible to automatically calculate and determine a position of the positioner at a time when holding the workpiece, so that it is possible to perform efficient work by automating the work for positioning the positioner.
- (10) A control program of a welding system configured to weld a workpiece by using a welding device and a positioner,
- wherein the control program is to control the welding device and the positioner, and
- wherein the control program includes a positioner position calculation step of calculating a position of a holding mechanism of the positioner at a time when holding the workpiece based on reference position information provided from a workpiece position setting mechanism of the positioner and workpiece information inputted into the control program in advance.
- According to the configuration, it is possible to automatically calculate and determine a position of the positioner at a time when holding the workpiece, so that it is possible to perform efficient work by automating the work for positioning the positioner.
- (11) A welding method of welding a workpiece by using a welding device and a positioner, the welding method including:
- a process of controlling the welding device and the positioner by a control device configured to control the welding device and the positioner,
- wherein the positioner includes a workpiece position setting mechanism having reference position information, and at least one holding mechanism configured to hold the workpiece, and
- wherein the welding method includes a process of calculating a position of the holding mechanism at a time when holding the workpiece based on the reference position information provided from the workpiece position setting mechanism and workpiece information inputted into the control device in advance.
- According to the configuration, it is possible to automatically calculate and determine a position of the positioner at a time when holding the workpiece, so that it is possible to perform efficient work by automating the work for positioning the positioner.
- Although the various embodiments have been described with reference to the drawings, the present invention is not limited thereto. It is apparent to one skilled in the art that a variety of changes or modifications can be made within the scope defined in the claims and are included within the technical scope of the present invention. In addition, the respective constitutional elements in the above embodiments may be arbitrarily combined without departing from the gist of the invention.
- The present application is based on Japanese Patent Application No. 2019-067011 filed on Mar. 29, 2019, the contents of which are incorporated herein by reference.
-
-
- 1: welding system
- 10: rotation positioner (holding mechanism)
- 10A: drive-side rotation positioner (drive-side holding mechanism)
- 10B: driven-side rotation positioner (driven-side holding mechanism)
- 11: annular holder
- 11 a: gear
- 11 b: arc part
- 12: elevating arm mechanism
- 13: bracket
- 14: carriage for rotation positioner
- 16: fixing jig
- 20: carriage for welding device and control device
- 21: wheel
- 22: slider mechanism
- 30: welding robot (welding device)
- 31: welding torch
- 32: manipulator
- 40: positioner
- 41: workpiece position setting mechanism
- 42: reference surface
- 43: carriage for workpiece position setting mechanism
- 50: control device
- 51: PC
- 51 a: positioner position calculation means
- 51 b: program automatic generation means
- 52: positioner control unit
- 53: welding robot control unit
- 53 a: synchronous control unit
- DB: database
- M: drive unit
- R1: moving rail (moving shaft) for positioner
- R2: moving rail (moving shaft) for welding device and control device
- S: reference position (reference position information)
- W: steel frame structure (workpiece)
Claims (16)
1. A welding system configured to weld a workpiece by using a welding device and a positioner, the welding system comprising:
a control device configured to control the welding device and the positioner,
wherein the positioner comprises a workpiece position setting mechanism having reference position information, and at least one holding mechanism configured to hold the workpiece, and
wherein the control device comprises a positioner position calculation means for calculating a position of the holding mechanism when holding the workpiece based on the reference position information provided from the workpiece position setting mechanism and workpiece information inputted into the control device in advance.
2. The welding system according to claim 1 ,
wherein the control device has a database in which the position of the holding mechanism at a time when holding the workpiece is stored for each of the workpiece information, and
wherein the positioner position calculation means calculates the position of the holding mechanism at a time when holding the workpiece by referring to the database.
3. The welding system according to claim 1 ,
wherein the workpiece information comprises at least one data of welding position data and size data of the workpiece.
4. The welding system according to claim 1 ,
wherein the control device comprises a synchronous control unit configured to perform control such that an operation of the welding device and an operation of the positioner are synchronized with each other.
5. The welding system according to claim 1 ,
wherein the welding device is a welding robot, and
wherein each of the welding robot and the positioner has a moving shaft for enabling movement in parallel.
6. The welding system according to claim 5 ,
wherein the positioner has two or more holding mechanisms,
wherein when one of the holding mechanisms is set as a drive-side holding mechanism and other of the holding mechanisms is set as a driven-side holding mechanism, each of the drive-side holding mechanism and the driven-side holding mechanism has a servo motor for positioning to a predetermined position, and
wherein the control device is configured to control a position of the driven-side holding mechanism based on a position positioned in the drive-side holding mechanism, with respect to the position of the holding mechanism at a time when holding the workpiece calculated by the positioner position calculation means.
7. The welding system according to claim 1 ,
wherein the control device has a program automatic generation means for automatically generating an operating program for moving the holding mechanism and the welding device to the position of the holding mechanism at a time when holding the workpiece calculated by the positioner position calculation means.
8. The welding system according to claim 1 ,
wherein the workpiece information includes gravity center data of the workpiece, and
wherein the positioner position calculation means calculates the position of the holding mechanism at a time when holding the workpiece by referring to the gravity center data.
9. A control device of a welding system configured to weld a workpiece by using a welding device and a positioner,
wherein the control device is configured to control the welding device and the positioner, and
wherein the control device comprises a positioner position calculation means for calculating a position of a holding mechanism of the positioner at a time when holding the workpiece based on reference position information provided from a workpiece position setting mechanism of the positioner and workpiece information inputted into the control device in advance.
10. (canceled)
11. A welding method of welding a workpiece by using a welding device and a positioner, the welding method comprising:
a process of controlling the welding device and the positioner by a control device configured to control the welding device and the positioner,
wherein the positioner comprises a workpiece position setting mechanism having reference position information, and at least one holding mechanism configured to hold the workpiece, and
wherein the welding method comprises a process of calculating a position of the holding mechanism at a time when holding the workpiece based on the reference position information provided from the workpiece position setting mechanism and workpiece information inputted into the control device in advance.
12. The welding system according to claim 2 ,
wherein the workpiece information comprises at least one data of welding position data and size data of the workpiece.
13. The welding system according to claim 2 ,
wherein the control device comprises a synchronous control unit configured to perform control such that an operation of the welding device and an operation of the positioner are synchronized with each other.
14. The welding system according to claim 2 ,
wherein the welding device is a welding robot, and
wherein each of the welding robot and the positioner has a moving shaft for enabling movement in parallel.
15. The welding system according to claim 2 ,
wherein the control device has a program automatic generation means for automatically generating an operating program for moving the holding mechanism and the welding device to the position of the holding mechanism at a time when holding the workpiece calculated by the positioner position calculation means.
16. The welding system according to claim 2 ,
wherein the workpiece information includes gravity center data of the workpiece, and
wherein the positioner position calculation means calculates the position of the holding mechanism at a time when holding the workpiece by referring to the gravity center data.
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019067011A JP7189064B2 (en) | 2019-03-29 | 2019-03-29 | Welding system, control device, control program and welding method |
JP2019-067011 | 2019-03-29 | ||
PCT/JP2020/005709 WO2020202830A1 (en) | 2019-03-29 | 2020-02-14 | Welding system, control device, control program and welding method |
Publications (1)
Publication Number | Publication Date |
---|---|
US20220184813A1 true US20220184813A1 (en) | 2022-06-16 |
Family
ID=72667955
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US17/599,366 Pending US20220184813A1 (en) | 2019-03-29 | 2020-02-14 | Welding system, control device, and welding method |
Country Status (5)
Country | Link |
---|---|
US (1) | US20220184813A1 (en) |
JP (1) | JP7189064B2 (en) |
CN (1) | CN113631312B (en) |
CA (1) | CA3135100C (en) |
WO (1) | WO2020202830A1 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN115556038A (en) * | 2022-10-19 | 2023-01-03 | 云南电网有限责任公司红河供电局 | Auxiliary tool for fixing and assembling and disassembling bus drainage wire of transformer substation in cooperation with live-line mode |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR102254163B1 (en) * | 2020-12-08 | 2021-05-18 | 오동현 | Rolling jig device |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20100174407A1 (en) * | 2005-10-07 | 2010-07-08 | Nissan Motor Co., Ltd. | Laser processing robot control system, control method and control program medium |
US20120312862A1 (en) * | 2011-06-09 | 2012-12-13 | Landoll Donald R | Gantry-based welding system and method |
US20160325386A1 (en) * | 2015-05-08 | 2016-11-10 | Lincoln Global, Inc. | Drop center positioner with multiple rotate modules |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3623684B2 (en) * | 1999-03-10 | 2005-02-23 | Jfeスチール株式会社 | Column ring welding equipment |
JP4564722B2 (en) * | 2003-04-25 | 2010-10-20 | コマツエンジニアリング株式会社 | Steel column welding apparatus and welding method |
JP4235214B2 (en) * | 2006-07-04 | 2009-03-11 | ファナック株式会社 | Apparatus, program, recording medium, and method for creating robot program |
JP5002483B2 (en) * | 2008-02-20 | 2012-08-15 | セントラル自動車株式会社 | Welding system using spot welding robot |
JP5268495B2 (en) * | 2008-08-21 | 2013-08-21 | 株式会社神戸製鋼所 | Off-line teaching data creation method and robot system |
CN101941127B (en) * | 2010-09-19 | 2015-01-28 | 浙江精功科技股份有限公司 | Corrugated web plate H-shaped steel welding and cutting equipment |
JP5690551B2 (en) * | 2010-10-25 | 2015-03-25 | 株式会社アマダ | Pallet fixing device and pallet fixing method |
US20130282160A1 (en) * | 2010-12-22 | 2013-10-24 | Kevin Francis Fitzgerald | Method for Working Structural Members |
JP2015134363A (en) * | 2014-01-16 | 2015-07-27 | 日産自動車株式会社 | Manufacturing device and manufacturing method of steering member |
JP6619301B2 (en) * | 2016-07-27 | 2019-12-11 | 株式会社神戸製鋼所 | Welding equipment |
-
2019
- 2019-03-29 JP JP2019067011A patent/JP7189064B2/en active Active
-
2020
- 2020-02-14 WO PCT/JP2020/005709 patent/WO2020202830A1/en active Application Filing
- 2020-02-14 CA CA3135100A patent/CA3135100C/en active Active
- 2020-02-14 CN CN202080025214.8A patent/CN113631312B/en active Active
- 2020-02-14 US US17/599,366 patent/US20220184813A1/en active Pending
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20100174407A1 (en) * | 2005-10-07 | 2010-07-08 | Nissan Motor Co., Ltd. | Laser processing robot control system, control method and control program medium |
US20120312862A1 (en) * | 2011-06-09 | 2012-12-13 | Landoll Donald R | Gantry-based welding system and method |
US20160325386A1 (en) * | 2015-05-08 | 2016-11-10 | Lincoln Global, Inc. | Drop center positioner with multiple rotate modules |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN115556038A (en) * | 2022-10-19 | 2023-01-03 | 云南电网有限责任公司红河供电局 | Auxiliary tool for fixing and assembling and disassembling bus drainage wire of transformer substation in cooperation with live-line mode |
Also Published As
Publication number | Publication date |
---|---|
WO2020202830A1 (en) | 2020-10-08 |
CA3135100A1 (en) | 2020-10-08 |
CN113631312A (en) | 2021-11-09 |
JP7189064B2 (en) | 2022-12-13 |
CA3135100C (en) | 2024-03-19 |
CN113631312B (en) | 2023-01-06 |
JP2020163434A (en) | 2020-10-08 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6619301B2 (en) | Welding equipment | |
US6907318B2 (en) | Multi-station robotic welding assembly | |
JP2004174709A (en) | Method and device for machining workpiece | |
JP2013202673A (en) | Welding device | |
JPWO2013027283A1 (en) | NC machine tool system | |
EP2584419A2 (en) | CNC machine for cutting with plasma, oxygen and water jet used as a cutting tool with automatic setting up a precise position of a cutting tool in a cutting head by autocalibration and method thereof | |
US20120248082A1 (en) | Large panel assembly welding system and method | |
US9662785B2 (en) | Gantry robot system | |
US20220184813A1 (en) | Welding system, control device, and welding method | |
CN110154043B (en) | Robot system for learning control based on machining result and control method thereof | |
JP2019038010A (en) | Laser processing device and method for controlling laser processing device | |
JP2019188410A (en) | Processing system and welding method | |
US20160274564A1 (en) | Gantry robot system with extension bridge | |
JPS62255012A (en) | Automatic production systematizing device for gear machining device | |
JP7199073B2 (en) | Teaching data creation system for vertical articulated robots | |
KR20140040689A (en) | A method for working structural members | |
US9962841B2 (en) | Gantry robot system with expandable workpiece feeder | |
CN111283323B (en) | Welding method, welding device, terminal equipment and storage medium | |
JP2732034B2 (en) | Robot controller | |
JP3866617B2 (en) | Method for controlling welding robot apparatus | |
JP2001225242A (en) | Processing jig | |
RU2759273C1 (en) | Universal frame module and system for laser processing of extended objects of rotation | |
JP2020044564A (en) | Laser processing apparatus | |
JP3393110B2 (en) | Automatic processing equipment | |
CN114669831A (en) | Automatic welding system and method applied to plate-fin heat exchanger |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AS | Assignment |
Owner name: KABUSHIKI KAISHA KOBE SEIKO SHO (KOBE STEEL, LTD.), JAPAN Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:TAKEMURA, YOSHIYA;SAITO, YASUYUKI;JIAO, YOUZHUO;REEL/FRAME:057628/0219 Effective date: 20200701 |
|
STPP | Information on status: patent application and granting procedure in general |
Free format text: DOCKETED NEW CASE - READY FOR EXAMINATION |
|
STPP | Information on status: patent application and granting procedure in general |
Free format text: NON FINAL ACTION MAILED |
|
STPP | Information on status: patent application and granting procedure in general |
Free format text: RESPONSE TO NON-FINAL OFFICE ACTION ENTERED AND FORWARDED TO EXAMINER |